EP 1905548 B1 20100915 - Workpiece picking apparatus
Title (en)
Workpiece picking apparatus
Title (de)
Vorrichtung zur Werkstückaufnahme
Title (fr)
Appareil pour la préhension d'une pièce
Publication
Application
Priority
JP 2006266903 A 20060929
Abstract (en)
[origin: EP1905548A2] A workpiece picking apparatus (11) includes a robot (13), a workpiece recognition device (15,19,25) for recognizing the workpieces (W) located in a wide area, an accurate measurement device (17,19,27) for accurately measuring the three-dimensional position of the workpiece (W), a workpiece select device (37) for selecting the workpiece (W) to be picked, and an NG workpiece storage device (35) for storing information on the rough position of a failed NG workpiece (Wf) when the measurement of the three-dimensional position or the picking for the workpiece (W) has failed. The workpiece select device (37) excludes the NG workpiece (Wf) stored in the NG workpiece storage device (35) and selects the next workpiece (W) to be measured. The robot (13) picks the selected workpiece (W) based on the three-dimensional position of the workpiece (W) measured by the accurate measurement device (17,19,27).
IPC 8 full level
B25J 9/16 (2006.01); G06T 1/00 (2006.01); G06T 7/00 (2006.01)
CPC (source: EP US)
B25J 9/1697 (2013.01 - EP US); G06T 7/0004 (2013.01 - EP US); G06T 7/73 (2016.12 - EP US); G05B 2219/40038 (2013.01 - EP US); G05B 2219/40053 (2013.01 - EP); G06T 2207/30164 (2013.01 - EP US)
Designated contracting state (EPC)
DE
DOCDB simple family (publication)
EP 1905548 A2 20080402; EP 1905548 A3 20090128; EP 1905548 B1 20100915; CN 101152720 A 20080402; CN 101152720 B 20101201; DE 602007009166 D1 20101028; JP 2008087074 A 20080417; JP 4226623 B2 20090218; US 2008082213 A1 20080403; US 7966094 B2 20110621
DOCDB simple family (application)
EP 07019095 A 20070927; CN 200710163028 A 20070928; DE 602007009166 T 20070927; JP 2006266903 A 20060929; US 86367007 A 20070928